-
101.发明授权公开(公告)号：US09636186B2
公开(公告)日：2017-05-02
申请号：US15006549
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
-
公开(公告)号：US09500548B2
公开(公告)日：2016-11-22
申请号：US14560501
申请日：2014-12-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Vincent Duindam
CPC classification number: A61B34/30 , A61B34/77 , A61B2034/301 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , Y10S901/15 , Y10S901/17 , Y10S901/46
Abstract: An apparatus comprises an arm including a flexible portion and an actuation mechanism to bend and straighten the flexible portion of the arm. The apparatus also includes a sensor apparatus that generates bend information about at least one bend in the flexible portion and an electronic data processor. The electronic data processor determines external force information and/or internal force information from the bend information and information representing at least one mechanical property of the flexible portion.
Abstract translation: 一种装置包括一个臂，它包括一个可弯曲部分和一个致动机构，用于弯曲和拉直臂的柔性部分。 该装置还包括传感器装置，其产生关于柔性部分中的至少一个弯曲部的弯曲信息和电子数据处理器。 电子数据处理器根据弯曲信息和表示柔性部分的至少一个机械特性的信息确定外力信息和/或内力信息。
-
公开(公告)号：US20160157939A1
公开(公告)日：2016-06-09
申请号：US14908386
申请日：2014-07-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Vincent Duindam
IPC: A61B34/20
CPC classification number: A61B34/20 , A61B5/065 , A61B2034/2061 , A61B2090/0818
Abstract: A method of operating a shape sensing apparatus comprising receiving first shape data from a first shape sensor section including a first elongated optical fiber extending between a first location and a second location. The method further comprises receiving second shape data front a second shape sensor section including a second elongated optical fiber extending between a third location and a fourth location. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section.
Abstract translation: 一种操作形状感测装置的方法，包括从包括在第一位置和第二位置之间延伸的第一细长光纤的第一形状传感器部分接收第一形状数据。 该方法还包括接收第二形状数据前面的第二形状传感器部分，该第二形状传感器部分包括在第三位置和第四位置之间延伸的第二细长光纤。 该方法还包括使用来自第二形状传感器部分的第二形状数据确定第一形状传感器部分的端部的位置。
-
公开(公告)号：US09283049B2
公开(公告)日：2016-03-15
申请号：US14478349
申请日：2014-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
-
公开(公告)号：US20150250546A1
公开(公告)日：2015-09-10
申请号：US14716695
申请日：2015-05-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
CPC classification number: A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
Abstract translation: 手术器械的远端可以独立于远程手术操作的外科系统的其他部件，以全部六个笛卡尔度的自由度移动。 手术器械延伸穿过导管。 远端由远程手动控制的致动器移动。
-
Patent Agency Ranking
公开(公告)号：US20150164598A1
公开(公告)日：2015-06-18
申请号：US14591826
申请日：2015-01-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： STEPHEN J. BLUMENKRANZ , David Q. Larkin
CPC classification number: G01L5/22 , A61B1/00059 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/06 , A61B90/37 , A61B2017/2927 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2562/0266 , B25J15/0009 , G01L1/246 , Y10T74/20335
Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
Abstract translation: 提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。 一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。 有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。 公开了其它有利的配置和方法。
-
107.发明申请MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITION AND ORIENTING OF ITS TIP 审中-公开医疗机器人系统提供计算机生成的摄像机辅助显示器，用于控制其位置和方位公开(公告)号：US20150065793A1
公开(公告)日：2015-03-05
申请号：US14488408
申请日：2014-09-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Daniel H. Gomez , Tabish Mustufa , Paul W. Mohr , Paul E. Lilagan
CPC classification number: A61B1/00149 , A61B1/00006 , A61B1/00009 , A61B1/00039 , A61B1/00045 , A61B1/0005 , A61B1/00087 , A61B1/00154 , A61B1/05 , A61B1/313 , A61B5/065 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/77 , A61B90/03 , A61B90/36 , A61B90/361 , A61B2017/00119 , A61B2034/102 , A61B2034/2074 , A61B2034/301 , A61B2034/305 , A61B2090/364 , A61B2090/365 , G06T7/70 , G09B23/285
Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
Abstract translation: 医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。 为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或相机的可铰接臂的辅助视图是从感测或以其它方式确定的关于它们的位置和取向的信息产生的，并且从显示屏幕的视角 指定的观察点。 当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。
-
108.发明授权Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system 有权控制系统被配置为补偿医疗机器人系统中的非理想的致动器 - 关节联动特性公开(公告)号：US08864752B2
公开(公告)日：2014-10-21
申请号：US13761439
申请日：2013-02-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
Abstract translation: 具有非理想的致动器到关节联动特性的医疗机器人系统包括控制系统，其包括具有致动器传感器反馈的近侧控制回路，以控制联接到远端关节的致动器的动态响应，所述远程关节联接到末端 以提供端部执行器的自由度运动，具有远端关节传感器反馈的前端控制回路和前馈到致动器以确保远端关节位置的稳态收敛，以及具有端点传感器的末端执行器控制回路 反馈以控制末端执行器位置以达到指令的末端执行器位置。
-
公开(公告)号：US20140188131A1
公开(公告)日：2014-07-03
申请号：US14145406
申请日：2013-12-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory K. Toth , Nitish Swarup , Thomas R. Nixon , David Q. Larkin , Steven J. Colton
IPC: A61B19/00
CPC classification number: A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
-
110.发明申请公开(公告)号：US20130166070A1
公开(公告)日：2013-06-27
申请号：US13736720
申请日：2013-01-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Tao Zhao , David Q. Larkin
IPC: G01L5/22
CPC classification number: A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/064 , B25J9/1689 , G05B2219/40144
Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。
-
-
-
-
-
-
-
-
-
Search Results
198
records
(took 0.034 seconds)
